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    ROBUST SPARSE IMAGE MATCHING FOR ROBOTIC SURGERY
    1.
    发明申请
    ROBUST SPARSE IMAGE MATCHING FOR ROBOTIC SURGERY 有权
    用于机器人手术的稳健的SPARSE图像匹配

    公开(公告)号：US20120237095A1

    公开(公告)日：2012-09-20

    申请号：US13454297

    申请日：2012-04-24

    申请人： WENYI ZHAO ,  CHENYU WU ,  DAVID HIRVONEN ,  TAO ZHAO ,  BRIAN D. HOFFMAN ,  SIMON DIMAIO

    发明人： WENYI ZHAO ,  CHENYU WU ,  DAVID HIRVONEN ,  TAO ZHAO ,  BRIAN D. HOFFMAN ,  SIMON DIMAIO

    IPC分类号： G06K9/00

    CPC分类号： G06K9/6211 ,  G06T7/33

    摘要： Systems, methods, and devices are used to match images. Points of interest from a first image are identified for matching to a second image. In response to the identified points of interest, regions and features can be identified and used to match the points of interest to a corresponding second image or second series of images. Regions can be used to match the points of interest when regions of the first image are matched to the second image with high confidence scores, for example above a threshold. Features of the first image can be matched to the second image, and these matched features may be used to match the points of interest to the second image, for example when the confidence scores for the regions are below the threshold value. Constraint can be used to evaluate the matched points of interest, for example by excluding bad points.

    摘要翻译： 系统，方法和设备用于匹配图像。 识别来自第一图像的兴趣点以匹配第二图像。 响应于所识别的兴趣点，区域和特征可被识别并用于将感兴趣点与对应的第二图像或第二系列图像相匹配。 当第一图像的区域与具有高置信度得分的第二图像匹配时，例如高于阈值，可以使用区域来匹配感兴趣点。 第一图像的特征可以匹配第二图像，并且这些匹配的特征可以用于将感兴趣的点与第二图像匹配，例如当区域的置信度得分低于阈值时。 约束可用于评估匹配的兴趣点，例如排除不良点。

    RATCHETING FOR MASTER ALIGNMENT OF A TELEOPERATED MINIMALLY-INVASIVE SURGICAL INSTRUMENT
    4.
    发明申请
    RATCHETING FOR MASTER ALIGNMENT OF A TELEOPERATED MINIMALLY-INVASIVE SURGICAL INSTRUMENT 有权
    用于远程微型外科手术仪器的主对齐

    公开(公告)号：US20100332031A1

    公开(公告)日：2010-12-30

    申请号：US12495213

    申请日：2009-06-30

    申请人： Brandon D. Itkowitz ,  Simon DiMaio ,  William C. Nowlin ,  Günter D. Niemeyer ,  David S. Mintz

    发明人： Brandon D. Itkowitz ,  Simon DiMaio ,  William C. Nowlin ,  Günter D. Niemeyer ,  David S. Mintz

    IPC分类号： G06F19/00

    CPC分类号： A61B34/37 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B90/10 ,  A61B2017/00725 ,  A61B2034/305 ,  B25J3/00 ,  B25J9/1669 ,  B25J9/1689 ,  G05B2219/45117 ,  Y10S901/27 ,  Y10S901/41

    摘要： A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the alignment of the master grip. A ratcheting system (i) coupled to the master grip to receive the alignment of the master grip and (ii) coupled to the slave surgical instrument, to control motion of the slave by continuously reducing the alignment error, as the master grip moves, without autonomous motion of the slave surgical instrument tip and without autonomous motion of the master grip.

    摘要翻译： 微创手术系统包括具有从动手术器械尖端和主把手的从动手术器械。 从属外科器械尖端具有在公共参考系中的对准，并且联接到从动手术器械的主把手具有在公共参照系中的对准。 在通用参考系中的对准误差是从动外科器械尖端的对准与主把手对准之间的对准差异。 棘轮系统（i）联接到主把手以接收主握柄的对准并（ii）联接到从动手术器械，以通过连续减小对准误差来控制从动装置的运动，如主掌握移动，而没有 从动手术器械尖端的自主运动和主手柄的自主运动。

    ROBUST SPARSE IMAGE MATCHING FOR ROBOTIC SURGERY
    5.
    发明申请
    ROBUST SPARSE IMAGE MATCHING FOR ROBOTIC SURGERY 有权
    用于机器人手术的稳健的SPARSE图像匹配

    公开(公告)号：US20100166323A1

    公开(公告)日：2010-07-01

    申请号：US12465029

    申请日：2009-05-13

    申请人： Wenyi Zhao ,  Chenyu Wu ,  David Hirvonen ,  Tao Zhao ,  Brian D. Hoffman ,  Simon Dimaio

    发明人： Wenyi Zhao ,  Chenyu Wu ,  David Hirvonen ,  Tao Zhao ,  Brian D. Hoffman ,  Simon Dimaio

    IPC分类号： G06K9/68

    CPC分类号： G06K9/6211 ,  G06T7/33

    摘要： Systems, methods, and devices are used to match images. Points of interest from a first image are identified for matching to a second image. In response to the identified points of interest, regions and features can be identified and used to match the points of interest to a corresponding second image or second series of images. Regions can be used to match the points of interest when regions of the first image are matched to the second image with high confidence scores, for example above a threshold. Features of the first image can be matched to the second image, and these matched features may be used to match the points of interest to the second image, for example when the confidence scores for the regions are below the threshold value. Constraint can be used to evaluate the matched points of interest, for example by excluding bad points.

    摘要翻译： 系统，方法和设备用于匹配图像。 识别来自第一图像的兴趣点以匹配第二图像。 响应于所识别的兴趣点，区域和特征可被识别并用于将感兴趣点与对应的第二图像或第二系列图像相匹配。 当第一图像的区域与具有高置信度得分的第二图像匹配时，例如高于阈值，可以使用区域来匹配感兴趣点。 第一图像的特征可以匹配第二图像，并且这些匹配的特征可以用于将感兴趣的点与第二图像匹配，例如当区域的置信度得分低于阈值时。 约束可用于评估匹配的兴趣点，例如排除不良点。

    Ratcheting for master alignment of a teleoperated minimally-invasive surgical instrument
    8.
    发明授权
    Ratcheting for master alignment of a teleoperated minimally-invasive surgical instrument 有权
    用于远程手术的微创外科手术器械的对准的棘轮

    公开(公告)号：US08423186B2

    公开(公告)日：2013-04-16

    申请号：US12495213

    申请日：2009-06-30

    申请人： Brandon D. Itkowitz ,  Simon DiMaio ,  William C. Nowlin ,  Günter D. Niemeyer ,  David S. Mintz

    发明人： Brandon D. Itkowitz ,  Simon DiMaio ,  William C. Nowlin ,  Günter D. Niemeyer ,  David S. Mintz

    IPC分类号： G05B19/18

    CPC分类号： A61B34/37 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B90/10 ,  A61B2017/00725 ,  A61B2034/305 ,  B25J3/00 ,  B25J9/1669 ,  B25J9/1689 ,  G05B2219/45117 ,  Y10S901/27 ,  Y10S901/41

    摘要： A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the alignment of the master grip. A ratcheting system (i) coupled to the master grip to receive the alignment of the master grip and (ii) coupled to the slave surgical instrument, to control motion of the slave by continuously reducing the alignment error, as the master grip moves, without autonomous motion of the slave surgical instrument tip and without autonomous motion of the master grip.

    摘要翻译： 微创手术系统包括具有从动手术器械尖端和主把手的从动手术器械。 从属外科器械尖端具有在公共参考系中的对准，并且联接到从动手术器械的主把手具有在公共参照系中的对准。 在通用参考系中的对准误差是从动外科器械尖端的对准与主把手对准之间的对准差异。 棘轮系统（i）联接到主把手以接收主握柄的对准并（ii）联接到从动手术器械，以通过连续减小对准误差来控制从动装置的运动，如主掌握移动，而没有 从动手术器械尖端的自主运动和主手柄的自主运动。

    VIRTUAL MEASUREMENT TOOL FOR MINIMALLY INVASIVE SURGERY
    9.
    发明申请
    VIRTUAL MEASUREMENT TOOL FOR MINIMALLY INVASIVE SURGERY 有权
    用于微创外科手术的虚拟测量工具

    公开(公告)号：US20100317965A1

    公开(公告)日：2010-12-16

    申请号：US12485503

    申请日：2009-06-16

    申请人： BRANDON D. ITKOWITZ ,  Tao Zhao ,  Simon Dimaio ,  Wenyi Zhao ,  Christopher J. Hasser ,  Myrian J. Curet ,  Catherine J. Mohr ,  Hubert Stein

    发明人： BRANDON D. ITKOWITZ ,  Tao Zhao ,  Simon Dimaio ,  Wenyi Zhao ,  Christopher J. Hasser ,  Myrian J. Curet ,  Catherine J. Mohr ,  Hubert Stein

    IPC分类号： A61B5/05 ,  G06K9/00

    CPC分类号： A61B90/06 ,  A61B1/00193 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B90/361 ,  A61B2017/00477 ,  A61B2034/2065 ,  A61B2090/061

    摘要： Robotic and/or measurement devices, systems, and methods for telesurgical and other applications employ input devices operatively coupled to tools so as to allow a system user to manipulate tissues and other structures being measured. The system may make use of three dimensional position information from stereoscopic images. Two or more discrete points can be designated in three dimensions so as to provide a cumulative length along a straight or curving structure, an area measurement, a volume measurement, or the like. The discrete points may be identified by a single surgical tool or by distances separating two or more surgical tools, with the user optionally measuring a structure longer than a field of view of the stereoscopic image capture device by walking a pair of tools “hand-over-hand” along the structure. By allowing the system user to interact with the tissues while designating the tissue locations, and by employing imaging data to determine the measurements, the measurement accuracy and ease of measurement may be enhanced.

    摘要翻译： 用于远程外科手术和其他应用的机器人和/或测量装置，系统和方法使用可操作地耦合到工具的输入装置，以允许系统用户操纵被测量的组织和其他结构。 该系统可以利用来自立体图像的三维位置信息。 可以在三维中指定两个或更多个离散点，以沿着直线或弯曲结构，面积测量，体积测量等提供累积长度。 离散点可以通过单个外科手术工具或通过分离两个或更多个手术工具的距离来识别，用户可选地通过行走一对工具“移交”来测量比立体图像捕获装置的视场更长的结构 - 手“沿结构。 通过允许系统用户在指定组织位置的同时与组织交互，并且通过使用成像数据来确定测量，可以提高测量精度和测量容易度。